author | Florian Pose <fp@igh-essen.com> |
Thu, 19 Feb 2015 15:19:29 +0100 | |
changeset 2598 | 19ff84bbbcb3 |
parent 2589 | 2b9c78543663 |
permissions | -rw-r--r-- |
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/****************************************************************************** |
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* |
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* $Id$ |
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* |
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* Copyright (C) 2011 IgH Andreas Stewering-Bone |
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* 2012 Florian Pose <fp@igh-essen.com> |
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* |
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* This file is part of the IgH EtherCAT master |
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* |
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* The IgH EtherCAT Master is free software; you can redistribute it and/or |
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* modify it under the terms of the GNU General Public License version 2, as |
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* published by the Free Software Foundation. |
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* |
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* The IgH EtherCAT master is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General |
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* Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License along |
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* with the IgH EtherCAT master. If not, see <http://www.gnu.org/licenses/>. |
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* |
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* --- |
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* |
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* The license mentioned above concerns the source code only. Using the |
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* EtherCAT technology and brand is only permitted in compliance with the |
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* industrial property and similar rights of Beckhoff Automation GmbH. |
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* |
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*****************************************************************************/ |
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#include <sched.h> |
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#include <stdio.h> |
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#include <stdlib.h> |
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#include <fcntl.h> |
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#include <signal.h> |
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#include <rtai_lxrt.h> |
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#include <rtdm/rtdm.h> |
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#include "ecrt.h" |
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#define rt_printf(X, Y) |
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#define NSEC_PER_SEC 1000000000 |
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RT_TASK *task; |
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const static unsigned int cycle_us = 1000; /* 1 ms */ |
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static int run = 1; |
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/****************************************************************************/ |
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// EtherCAT |
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static ec_master_t *master = NULL; |
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static ec_master_state_t master_state = {}; |
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static ec_domain_t *domain1 = NULL; |
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static ec_domain_state_t domain1_state = {}; |
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static uint8_t *domain1_pd = NULL; |
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static ec_slave_config_t *sc_dig_out_01 = NULL; |
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/****************************************************************************/ |
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// process data |
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#define BusCoupler01_Pos 0, 0 |
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#define DigOutSlave01_Pos 0, 1 |
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#define Beckhoff_EK1100 0x00000002, 0x044c2c52 |
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#define Beckhoff_EL2004 0x00000002, 0x07d43052 |
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// offsets for PDO entries |
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static unsigned int off_dig_out0 = 0; |
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// process data |
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const static ec_pdo_entry_reg_t domain1_regs[] = { |
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{DigOutSlave01_Pos, Beckhoff_EL2004, 0x7000, 0x01, &off_dig_out0, NULL}, |
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{} |
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}; |
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/****************************************************************************/ |
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/* Slave 1, "EL2004" |
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* Vendor ID: 0x00000002 |
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* Product code: 0x07d43052 |
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* Revision number: 0x00100000 |
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*/ |
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ec_pdo_entry_info_t slave_1_pdo_entries[] = { |
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{0x7000, 0x01, 1}, /* Output */ |
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{0x7010, 0x01, 1}, /* Output */ |
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{0x7020, 0x01, 1}, /* Output */ |
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{0x7030, 0x01, 1}, /* Output */ |
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}; |
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ec_pdo_info_t slave_1_pdos[] = { |
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{0x1600, 1, slave_1_pdo_entries + 0}, /* Channel 1 */ |
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{0x1601, 1, slave_1_pdo_entries + 1}, /* Channel 2 */ |
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{0x1602, 1, slave_1_pdo_entries + 2}, /* Channel 3 */ |
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{0x1603, 1, slave_1_pdo_entries + 3}, /* Channel 4 */ |
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}; |
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ec_sync_info_t slave_1_syncs[] = { |
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{0, EC_DIR_OUTPUT, 4, slave_1_pdos + 0, EC_WD_ENABLE}, |
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{0xff} |
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}; |
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/***************************************************************************** |
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* Realtime task |
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****************************************************************************/ |
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void rt_check_domain_state(void) |
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{ |
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ec_domain_state_t ds = {}; |
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118 |
|
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119 |
ecrt_domain_state(domain1, &ds); |
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120 |
|
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121 |
if (ds.working_counter != domain1_state.working_counter) { |
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rt_printf("Domain1: WC %u.\n", ds.working_counter); |
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123 |
} |
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124 |
|
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125 |
if (ds.wc_state != domain1_state.wc_state) { |
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126 |
rt_printf("Domain1: State %u.\n", ds.wc_state); |
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127 |
} |
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128 |
|
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domain1_state = ds; |
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130 |
} |
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131 |
|
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132 |
/****************************************************************************/ |
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133 |
|
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134 |
void rt_check_master_state(void) |
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135 |
{ |
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136 |
ec_master_state_t ms; |
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137 |
|
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138 |
ecrt_master_state(master, &ms); |
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139 |
|
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140 |
if (ms.slaves_responding != master_state.slaves_responding) { |
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rt_printf("%u slave(s).\n", ms.slaves_responding); |
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142 |
} |
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143 |
|
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144 |
if (ms.al_states != master_state.al_states) { |
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rt_printf("AL states: 0x%02X.\n", ms.al_states); |
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146 |
} |
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147 |
|
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148 |
if (ms.link_up != master_state.link_up) { |
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rt_printf("Link is %s.\n", ms.link_up ? "up" : "down"); |
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150 |
} |
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151 |
|
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152 |
master_state = ms; |
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153 |
} |
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154 |
|
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155 |
/****************************************************************************/ |
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156 |
|
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157 |
void my_cyclic(void) |
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158 |
{ |
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159 |
int cycle_counter = 0; |
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160 |
int period; |
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161 |
unsigned int blink = 0; |
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162 |
|
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163 |
rt_set_periodic_mode(); |
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164 |
period = (int) nano2count((RTIME) cycle_us * 1000); |
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165 |
start_rt_timer(period); |
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166 |
rt_make_hard_real_time(); |
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167 |
rt_task_make_periodic(task, rt_get_time() + 10 * period, period); |
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|
168 |
|
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169 |
while (run) { |
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170 |
rt_task_wait_period(); |
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171 |
|
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172 |
cycle_counter++; |
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173 |
|
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174 |
// receive EtherCAT |
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175 |
ecrt_master_receive(master); |
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176 |
ecrt_domain_process(domain1); |
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|
177 |
|
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178 |
rt_check_domain_state(); |
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|
179 |
|
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|
180 |
if (!(cycle_counter % 1000)) { |
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181 |
rt_check_master_state(); |
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182 |
} |
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|
183 |
|
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|
184 |
if (!(cycle_counter % 200)) { |
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185 |
blink = !blink; |
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186 |
} |
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|
187 |
|
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|
188 |
EC_WRITE_U8(domain1_pd + off_dig_out0, blink ? 0x00 : 0x0F); |
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|
189 |
|
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190 |
// send process data |
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|
191 |
ecrt_domain_queue(domain1); |
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192 |
ecrt_master_send(master); |
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|
193 |
} |
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|
194 |
|
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|
195 |
rt_make_soft_real_time(); |
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196 |
stop_rt_timer(); |
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|
197 |
} |
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|
198 |
|
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|
199 |
/**************************************************************************** |
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|
200 |
* Signal handler |
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|
201 |
***************************************************************************/ |
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|
202 |
|
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|
203 |
void signal_handler(int sig) |
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204 |
{ |
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|
205 |
run = 0; |
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|
206 |
} |
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|
207 |
|
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|
208 |
/**************************************************************************** |
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|
209 |
* Main function |
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210 |
***************************************************************************/ |
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|
211 |
|
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212 |
int main(int argc, char *argv[]) |
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213 |
{ |
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214 |
ec_slave_config_t *sc; |
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|
215 |
|
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|
216 |
signal(SIGTERM, signal_handler); |
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|
217 |
signal(SIGINT, signal_handler); |
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|
218 |
|
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|
219 |
mlockall(MCL_CURRENT | MCL_FUTURE); |
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|
220 |
|
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|
221 |
printf("Requesting master...\n"); |
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|
222 |
master = ecrt_request_master(0); |
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|
223 |
if (!master) { |
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224 |
return -1; |
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|
225 |
} |
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|
226 |
|
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227 |
domain1 = ecrt_master_create_domain(master); |
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|
228 |
if (!domain1) { |
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|
229 |
return -1; |
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|
230 |
} |
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|
231 |
|
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|
232 |
printf("Creating slave configurations...\n"); |
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|
233 |
|
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|
234 |
// Create configuration for bus coupler |
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sc = ecrt_master_slave_config(master, BusCoupler01_Pos, Beckhoff_EK1100); |
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236 |
if (!sc) { |
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237 |
return -1; |
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238 |
} |
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239 |
|
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240 |
sc_dig_out_01 = |
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241 |
ecrt_master_slave_config(master, DigOutSlave01_Pos, Beckhoff_EL2004); |
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242 |
if (!sc_dig_out_01) { |
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fprintf(stderr, "Failed to get slave configuration.\n"); |
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244 |
return -1; |
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245 |
} |
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246 |
|
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if (ecrt_slave_config_pdos(sc_dig_out_01, EC_END, slave_1_syncs)) { |
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fprintf(stderr, "Failed to configure PDOs.\n"); |
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249 |
return -1; |
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250 |
} |
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251 |
|
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if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) { |
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fprintf(stderr, "PDO entry registration failed!\n"); |
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254 |
return -1; |
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255 |
} |
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256 |
|
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257 |
printf("Activating master...\n"); |
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258 |
if (ecrt_master_activate(master)) { |
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259 |
return -1; |
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260 |
} |
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261 |
|
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262 |
if (!(domain1_pd = ecrt_domain_data(domain1))) { |
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263 |
fprintf(stderr, "Failed to get domain data pointer.\n"); |
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264 |
return -1; |
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265 |
} |
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266 |
|
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267 |
/* Create cyclic RT-thread */ |
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268 |
struct sched_param param; |
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269 |
param.sched_priority = sched_get_priority_max(SCHED_FIFO) - 1; |
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270 |
if (sched_setscheduler(0, SCHED_FIFO, ¶m) == -1) { |
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271 |
puts("ERROR IN SETTING THE SCHEDULER"); |
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272 |
perror("errno"); |
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273 |
return -1; |
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274 |
} |
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275 |
|
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276 |
task = rt_task_init(nam2num("ec_rtai_rtdm_example"), |
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277 |
0 /* priority */, 0 /* stack size */, 0 /* msg size */); |
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278 |
|
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279 |
my_cyclic(); |
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280 |
|
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281 |
rt_task_delete(task); |
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282 |
|
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283 |
printf("End of Program\n"); |
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284 |
ecrt_release_master(master); |
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285 |
|
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286 |
return 0; |
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287 |
} |
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|
288 |
|
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289 |
/****************************************************************************/ |